#ifndef __PID_H
#define __PID_H

typedef struct
{
	float kp;
	float ki;
	float kd;

	
	float reference;
	float feedback;
	float period;
	
	
	float error;
	float last_error;
	float integral;

	float integral_deathzoom;
	float integral_limit;
	float output_limit;
	float output;

}pid_t;

void pid_calculate(void *arg);


#endif

